cmake_minimum_required(VERSION 3.28)
project(pinocchio_inv)

set(CMAKE_CXX_STANDARD 17)

find_package(Eigen3 REQUIRED NO_MODULE)
list(APPEND CMAKE_PREFIX_PATH "/opt/openrobots")
find_package(pinocchio REQUIRED)

#add_executable(InvKine main.cpp
#        log_pinRefined.h
#        log_pinRefined.cpp)
add_executable(InvKine_arm inv_arm.cpp)
target_link_libraries(InvKine_arm PRIVATE Eigen3::Eigen pinocchio::pinocchio)

add_executable(InvKine_leg inv_leg.cpp)
target_link_libraries(InvKine_leg PRIVATE Eigen3::Eigen pinocchio::pinocchio)

add_executable(Dynamic dyn.cpp)
target_link_libraries(Dynamic PRIVATE Eigen3::Eigen pinocchio::pinocchio)
